Counterweight adjustment system and control method for engineering machinery and engineering machinery

Abstract

The present application discloses a counterweight adjustment system, control method, and engineering machinery for engineering machinery, belonging to the field of engineering machinery. The system includes: a counterweight adjustment device, the counterweight adjustment device including a plurality of counterweight rings, the plurality of counterweight rings being concentric, and the counterweight rings being provided with counterweight blocks that slide along the counterweight rings; a sensor, the sensor being used to collect at least one of the tipping moment and the boom moment of the engineering machinery; and a controller, the controller being connected to the sensor and the counterweight adjustment device, and the controller being used to adjust the position of the counterweight blocks on the counterweight rings based on at least one of the tipping moment and the boom moment. By adjusting the position of the counterweight blocks on the counterweight rings, the system automatically adjusts the counterweight torque in real time, statically and dynamically stabilizing the center of gravity of the engineering machinery, adapting to different operating environments and operating requirements, maintaining a stable center of gravity of the engineering machinery, and effectively preventing tipping.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a counterweight adjustment system and control method of engineering machinery, and the engineering machinery. Background Art

[0002] Construction machinery is a vital component of the equipment industry. Generally speaking, it encompasses all the machinery and equipment necessary for earthwork, road construction and maintenance, mobile lifting and loading and unloading, and comprehensive mechanized construction required for various construction projects. It is primarily used in defense construction, transportation, energy industry construction and production, mining and other raw material industries, agriculture, forestry, and water conservancy projects, industrial and civil construction, urban development, and environmental protection.

[0003] For example, a spider car can be used instead of manual handling of components. The structure includes bottom legs and extension arms. The components can be grabbed, lifted and placed by rotating, pitching and extending the extension arms, which can greatly reduce the input and consumption of workers.

[0004] The operating environment of construction machinery is complex, which causes the center of gravity of the construction machinery to shift and may cause it to tip over. Different operating operations, such as changes in lifting weight and arm rotation, will also affect the center of gravity of the construction machinery and affect the operation of the construction machinery. How to improve the stability of construction machinery is an urgent problem that needs to be solved in this field. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a counterweight adjustment system and control method for an engineering machine, and the engineering machine, which can effectively improve the body stability of the engineering machine.

[0006] In a first aspect, the present application provides a counterweight adjustment system for an engineering machine, the system comprising:

[0007] A counterweight adjustment device, the counterweight adjustment device comprising a plurality of counterweight rings, the plurality of counterweight rings being concentric, and the counterweight rings being provided with counterweight blocks sliding along the counterweight rings;

[0008] A sensor for collecting at least one of a tipping moment and an arm extension moment of the engineering machinery;

[0009] A controller is connected to the sensor and the counterweight adjustment device, and is used to adjust the position of the counterweight block on the counterweight ring based on at least one of the tipping moment and the boom moment.

[0010] According to the counterweight adjustment system of the engineering machinery of the present application, by adjusting the position of the counterweight block on the counterweight ring and automatically adjusting the counterweight torque in real time, the center of gravity of the engineering machinery can be stabilized statically and dynamically, adapting to different working environments and working requirements, maintaining the center of gravity of the engineering machinery stable, and effectively preventing the occurrence of tipping.

[0011] According to one embodiment of the present application, the plurality of counterweight rings are sequentially arranged in a radial direction, and the diameters of the plurality of counterweight rings gradually increase from the center to the outer edge.

[0012] According to one embodiment of the present application, the mass of the plurality of counterweight blocks gradually increases from the center to the outer edge of the plurality of counterweight rings.

[0013] According to one embodiment of the present application, the total mass of the plurality of counterweights is equal to the difference between the maximum moment value of the arm extension moment and the chassis mass of the engineering machinery.

[0014] According to one embodiment of the present application, the counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring and an outer ring counterweight ring which are arranged in sequence along the radial direction. The inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block.

[0015] According to one embodiment of the present application, the masses of the inner ring counterweight, the middle ring counterweight, and the outer ring counterweight satisfy at least one of the following two formulas:

[0016] 2G2=G1+G3

[0017] G3=3G1

[0018] Among them, G1 is the mass of the inner ring counterweight block, G2 is the mass of the middle ring counterweight block, and G3 is the mass of the outer ring counterweight block.

[0019] In a second aspect, the present application provides a control method for a counterweight adjustment system of an engineering machinery, the method comprising:

[0020] When it is determined that the engineering machine is performing an operation, obtaining an arm extension torque of the engineering machine;

[0021] Based on the arm extension moment, the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system is adjusted so that the counterweight moment of the counterweight adjustment device is greater than or equal to the arm extension moment.

[0022] According to the control method of the counterweight adjustment system of the engineering machinery of the present application, by adjusting the position of the counterweight block on the counterweight ring, the counterweight torque is automatically adjusted in real time, and the center of gravity of the engineering machinery is stabilized statically and dynamically to adapt to different working environments and working requirements, maintain the stability of the center of gravity of the engineering machinery, and effectively prevent the occurrence of tipping.

[0023] According to one embodiment of the present application, the method further includes:

[0024] When it is determined that the engineering machinery is performing a positioning operation, obtaining a tipping moment of the engineering machinery;

[0025] Based on the tipping moment, the position of the counterweight block in the counterweight adjustment device on the counterweight ring is adjusted so that the counterweight moment of the counterweight adjustment device is greater than or equal to the tipping moment.

[0026] According to one embodiment of the present application, the counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring, and an outer ring counterweight ring sequentially sleeved in the radial direction, the inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block. Adjusting the position of the counterweight block on the counterweight ring in the counterweight adjustment device based on the tipping moment includes:

[0027] determining a first leveling position of the outer ring counterweight on the outer ring counterweight ring based on the tipping moment;

[0028] Moving the outer ring counterweight to the first leveling position to obtain the updated tipping moment;

[0029] determining at least one of a second leveling position of the middle ring counterweight on the middle ring counterweight ring and a third leveling position of the inner ring counterweight on the inner ring counterweight ring based on the updated tipping moment;

[0030] The middle ring counterweight is moved to the second leveling position, and / or the inner ring counterweight is moved to the third leveling position.

[0031] According to one embodiment of the present application, when it is determined that the engineering machinery is performing an operation, obtaining the arm extension torque of the engineering machinery includes:

[0032] When it is determined that the engineering machine performs an arm extension and retraction operation, the arm extension torque of the engineering machine is determined based on the length of the arm extension.

[0033] According to one embodiment of the present application, the counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring, and an outer ring counterweight ring sequentially arranged in a radial direction, the inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block. When it is determined that the engineering machinery is performing an operation, obtaining the arm extension torque of the engineering machinery includes:

[0034] In the case where it is determined that the engineering machine performs an arm rotation operation, determining an arm torque of the engineering machine based on the rotation angle of the arm;

[0035] The adjusting, based on the arm extension torque, the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system includes:

[0036] Based on the arm extension moment, the position of the outer ring counterweight block on the outer ring counterweight ring is adjusted to increase the counterweight, and the position of the inner ring counterweight block on the inner ring counterweight ring is adjusted to level the chassis angle of the engineering machinery.

[0037] According to one embodiment of the present application, the counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring, and an outer ring counterweight ring sequentially arranged in a radial direction, the inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block. When it is determined that the engineering machinery is performing an operation, obtaining the arm extension torque of the engineering machinery includes:

[0038] When it is determined that the engineering machinery is performing an arm-extending lifting operation, determining an arm-extending torque of the engineering machinery based on the weight of the load being lifted by the arm; and adjusting a position of a counterweight block on a counterweight ring in a counterweight adjustment device of a counterweight adjustment system based on the arm-extending torque, including:

[0039] Based on the arm extension torque, the position of the outer ring counterweight block on the outer ring counterweight ring and the position of the middle ring counterweight block on the middle ring counterweight ring are adjusted to balance the counterweight torque of the counterweight adjustment device and the arm extension torque, and the position of the inner ring counterweight block on the inner ring counterweight ring is adjusted to level the chassis plane of the engineering machinery.

[0040] In a third aspect, the present application provides engineering machinery, including:

[0041] chassis;

[0042] A boom and a boom turntable, wherein the boom is rotatably mounted on the boom turntable, the boom turntable is disposed on the chassis, and the boom is used for hoisting heavy objects;

[0043] A counterweight adjustment device, the counterweight adjustment device comprising a plurality of counterweight rings, the plurality of counterweight rings being concentric, and the counterweight rings being provided with counterweight blocks sliding along the counterweight rings;

[0044] a sensor configured to collect at least one of a tipping moment of the engineering machine and a spreading moment of the spreading arm;

[0045] A controller is connected to the sensor and the counterweight adjustment device, and is used to adjust the position of the counterweight block on the counterweight ring based on at least one of the tipping moment and the boom moment.

[0046] According to one embodiment of the present application, it further includes:

[0047] The supporting legs are telescopically mounted on the chassis and are used to support the chassis.

[0048] In a fourth aspect, the present application provides a photovoltaic power station, comprising:

[0049] Photovoltaic panels;

[0050] A photovoltaic assembly row, wherein the photovoltaic assembly is arranged on the photovoltaic assembly row;

[0051] As for the engineering machinery mentioned above, the engineering machinery is used to operate on at least one of the photovoltaic module and the photovoltaic module row.

[0052] In a fifth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method for the counterweight adjustment system of the engineering machinery as described in the first aspect above is implemented.

[0053] In a sixth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the counterweight adjustment system of the engineering machinery as described in the first aspect above.

[0054] In a seventh aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the control method for the counterweight adjustment system of the engineering machinery as described in the first aspect above.

[0055] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0056] By adjusting the position of the counterweight block on the counterweight ring, counterweight torques of different directions and sizes are provided, and the center of gravity of the construction machinery can be adjusted statically and dynamically to adapt to different working environments and working requirements, maintain the center of gravity of the construction machinery stable, and effectively prevent the occurrence of tipping.

[0057] Furthermore, the mass of multiple counterweights gradually increases from the center to the outer edge of the multiple counterweight rings. The counterweights on the outer counterweight rings can be adjusted first. The counterweights on the outer counterweight rings have large torque and weight, and mainly play the role of adjusting the size of the counterweight torque. Then, the counterweights on the middle and inner counterweight rings are adjusted to adjust the direction of the counterweight torque, keep the center of gravity of the construction machinery stable, and effectively prevent tipping.

[0058] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0060] Figure 1 Schematic diagram of the structure of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application;

[0061] Figure 2 is a schematic diagram of engineering machinery operation provided by an embodiment of the present application;

[0062] Figure 3 is a top view of the engineering machinery operation provided by the embodiment of the present application;

[0063] Figure 4 This is one of the structural diagrams of the engineering machinery provided in the embodiments of the present application;

[0064] Figure 5 This is the second structural diagram of the engineering machinery provided in the embodiment of the present application;

[0065] Figure 6 This is one of the flow charts of the control method of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application;

[0066] Figure 7 This is a second flow chart of a control method for a counterweight adjustment system of an engineering machinery provided in an embodiment of the present application;

[0067] Figure 8 It is a structural diagram of an electronic device provided in an embodiment of the present application.

[0068] Reference numerals:

[0069] Chassis 110, legs 120, arm turntable 130, arm 140,

[0070] The counterweight adjustment device 200 includes an inner ring counterweight block 210 , a middle ring counterweight block 220 , and an outer ring counterweight block 230 . DETAILED DESCRIPTION

[0071] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0072] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0073] Below, in combination with the accompanying drawings, the counterweight adjustment system of the engineering machinery, the control method of the counterweight adjustment system of the engineering machinery, the engineering machinery, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0074] In the embodiment of the present application, the engineering machinery may be a spider vehicle, a crane or other engineering machinery.

[0075] The counterweight adjustment system for engineering machinery provided in the embodiment of the present application includes: a counterweight adjustment device 200, a sensor, and a controller.

[0076] The counterweight adjustment device 200 includes a plurality of counterweight rings, which are concentric. The counterweight rings are provided with counterweight blocks that slide along the counterweight rings.

[0077] In this embodiment, the position of the counterweight block on the counterweight ring is adjustable. When the counterweight block is located at different positions of the counterweight ring, the counterweight adjustment device 200 can provide counterweight torques of different directions and sizes.

[0078] A plurality of balancing weight rings can be stacked in a vertical direction, and a corresponding balancing weight block is provided on each balancing weight ring. The masses of the balancing weight blocks on each balancing weight ring can be the same or different.

[0079] In some embodiments, as Figure 1 As shown, multiple counterweight rings can be arranged in sequence along the radial direction, and the diameters of the multiple counterweight rings gradually increase from the center to the outer edge. The outer edge of the counterweight ring close to the center of two adjacent counterweight rings contacts the inner edge of the counterweight ring far from the center.

[0080] The balancing weight ring can be circular or elliptical, and the multiple balancing weight rings are concentric, that is, the center of the circle or the center of the multiple balancing weight rings are the same.

[0081] In this embodiment, each counterweight ring is provided with a counterweight block, and the counterweight adjustment device 200 includes multiple counterweight rings and multiple counterweight blocks. The counterweight rings and the counterweight blocks correspond one to one, and the counterweight blocks on the counterweight rings can slide along the counterweight rings.

[0082] In this embodiment, the sensor is used to collect at least one of the overturning moment and the arm extension moment of the construction machine.

[0083] It should be noted that the operating environment of construction machinery is complex. It often operates on slopes, uneven roads or roads with relatively soft soil, which poses a risk of tipping over. In addition, during on-site construction, construction machinery may need lifting components, tripods, purlins, columns or other lifting objects. Due to different lifting weights, the torque applied to the boom 140 of the construction machinery is different. If the torque exceeds the limit in a certain direction, it may be impossible to rotate or move, causing instability to normal work.

[0084] Sensors can be installed on engineering machinery to collect the tipping moment and arm extension moment of the engineering machinery. The tipping moment refers to the moment caused by the shift of the center of gravity when the engineering machinery is in a certain position, and the tipping moment is related to the operating environment of the engineering machinery; the arm extension moment refers to the moment caused by the shift of the center of gravity when the engineering machinery's arm is extended 140 degrees to lift weights, and the arm extension moment is related to the operating operation of the engineering machinery.

[0085] In actual implementation, the sensor may be a torque limiter or other torque detecting sensor, which can automatically detect information such as the mass of the hoisted load and the angle of the boom 140 .

[0086] In this embodiment, a controller is connected to the sensor and the counterweight adjustment device 200, and the controller is used to adjust the position of the counterweight block on the counterweight ring based on at least one of the tipping moment and the boom moment.

[0087] It can be understood that by adjusting the position of the counterweight block on the counterweight ring, the counterweight adjustment device 200 can have counterweight moments of different directions and sizes to counteract the overturning moment and arm extension moment that may cause the risk of overturning. By adjusting the counterweight during the operation of the engineering machinery, the center of gravity of the engineering machinery can be kept stable in real time during operation, effectively preventing the occurrence of overturning.

[0088] Take the installation of photovoltaic panels using a spider car as an example.

[0089] like Figure 2 and Figure 3 As shown, the spider car extends its legs 120 and supports itself on the ground to carry out the lifting work of the photovoltaic modules.

[0090] In this embodiment, the spider car is provided with a counterweight adjustment device 200, which stabilizes the vehicle body through dynamic adjustment of the annular counterweight, and can prevent objects on the lifting site from tipping over.

[0091] like Figure 4 As shown, when the spider car is installing components on a slope, the legs 120 are first extended. After the legs 120 are extended, the spider car chassis 110 is parallel to the ground, and the center of gravity is downward. 前倾 >F 支撑 When the Spider car's center of gravity deviates from the center of the vehicle due to the angle of the slope, there is a risk of the vehicle tipping over.

[0092] Among them, F 前倾 is the forward tilting force caused by the Spider's own weight and the slope angle, F 支撑 It is the support provided by the spider car's outriggers 120.

[0093] In this embodiment, the overturning moment of the spider car is obtained, and the overturning moment can be calculated based on F 前倾 and F 支撑 OK, the controller controls the counterweight on the counterweight ring to move to the appropriate position according to the current tipping moment to keep the center of gravity of the spider car within the tipping line and ensure F 支撑 ≥F 前倾 , the chassis 110 remains level with the ground and the legs 120 do not shake, effectively preventing the spider car from tipping over.

[0094] In actual implementation, the position of the counterweight is adjusted by first adjusting the counterweight on the outer counterweight ring. The counterweight on the outer counterweight ring has a large torque and a large weight, and mainly plays the role of adjusting the size of the counterweight torque. Then the counterweight in the middle and inner counterweight rings are adjusted to control the horizontal torque of the chassis 110 and prevent roll.

[0095] When the spider car is positioned by the counterweight block, after static leveling, the car body is relatively stable, and the spider car can lift objects and perform inclined surface installation work.

[0096] When the spider car is performing inclined surface installation work, the center of gravity of the spider car changes accordingly with the extension and retraction, pitch and lifting of the boom 140 and the change of the lifting weight. The controller adjusts the position of the counterweight block according to the boom torque collected by the sensor to ensure that the center of gravity does not deviate from the tipping line, thereby achieving dynamic leveling.

[0097] When the arm 140 is extended and retracted, the tipping moment at a certain angle gradually increases, and the center of gravity gradually shifts. 展臂 =R 展臂 *F 展臂 , R 展臂 is the arm length of the arm 140, R 展臂 Constantly changing, F 展臂 Unchanged, M展臂 As the arm length of the extension arm 140 changes continuously, the counterweight moment M of the counterweight adjustment device 200 配重 =R 配重 *F 配重 By moving the counterweight to different positions on the counterweight ring, the center of gravity is kept stable to achieve M 展臂140 and M 配重 relative balance.

[0098] When the arm 140 rotates, the arm moment M 展臂 The angle direction changes, and the spider car is at risk of sideways tipping. The counterweight block can be moved on the counterweight ring. By moving the counterweight block to different positions on the counterweight ring, the counterweight adjustment device 200 can apply counterweight torques M of different sizes in different directions to the spider car. 配重 .

[0099] The counterweight is as M 展臂 By changing the position of the spider car itself and the positions of the multiple counterweight blocks, the counterweight adjustment device 200 can change the counterweight structure to ensure that the center of gravity of the spider car is balanced when the extension arm 140 rotates.

[0100] In this embodiment, the overall weight of the weight adjustment device 200 can be adjusted by the weight blocks on the outer weight ring, and the weight angle can be adjusted by the weight blocks on the middle and inner weight rings to keep the center of gravity relatively horizontal.

[0101] like Figure 5 As shown, during the lifting process of the spider car's arm 140, M 展臂 =R 展臂 *F 展臂 , M 配重 =R 配重 *F 配重 , R during the lifting process 展臂 Unchanged, M 展臂 With the lifting weight F 展臂 By adjusting the position of the counterweight, M 展臂 and M 配重 To ensure relative balance, prevent the equipment from tipping over during the lifting process.

[0102] According to the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application, by adjusting the position of the counterweight block on the counterweight ring, the counterweight torque in different directions and sizes can be automatically adjusted in real time, so as to achieve static and dynamic stability of the center of gravity of the engineering machinery, adapt to different working environments and working requirements, maintain the stability of the center of gravity of the engineering machinery, and effectively prevent the occurrence of tipping.

[0103] In some embodiments, the mass of the plurality of counterweights gradually increases from the center to the outer edge of the plurality of counterweight rings.

[0104] In this embodiment, the mass of the counterweight blocks on the outer counterweight ring is large, and the mass of the counterweight blocks on the inner counterweight ring is small, and the mass gradually increases from the common center to the outer edge of the counterweight ring.

[0105] In actual implementation, you can first adjust the counterweight block on the outer counterweight ring. The counterweight block on the outer counterweight ring has a large torque and a large weight, and mainly plays a role in adjusting the size of the counterweight torque. Then adjust the counterweight blocks on the middle and inner counterweight rings, adjust the direction of the counterweight torque, keep the center of gravity of the construction machinery stable, and effectively prevent the occurrence of tipping.

[0106] In some embodiments, the total mass of the plurality of counterweights is equal to the difference between the maximum moment value of the arm extension moment and the mass of the chassis of the engineering machine.

[0107] It should be noted that the maximum torque value of the boom moment includes the maximum lifting weight of objects that can be lifted by the boom 140.

[0108] In this embodiment, the total mass of the multiple counterweight blocks of the counterweight adjustment device 200 is configured as the mass calculated by subtracting the chassis mass of the engineering machinery from the maximum torque value of the arm extension torque. This can ensure that the counterweight adjustment device 200 can be statically and dynamically adjusted when the arm extension 140 is lifting the maximum lifting weight, stabilize the center of gravity of the engineering machinery, adapt to different working environments and working requirements, and effectively prevent the occurrence of tipping.

[0109] In some embodiments, as Figure 1 As shown, the counterweight adjustment device 200 includes an inner ring counterweight ring, a middle ring counterweight ring and an outer ring counterweight ring which are arranged in sequence along the radial direction. The inner ring counterweight ring is provided with an inner ring counterweight block 210, the middle ring counterweight ring is provided with a middle ring counterweight block 220, and the outer ring counterweight ring is provided with an outer ring counterweight block 230.

[0110] In some embodiments, the masses of the inner ring counterweight 210 , the middle ring counterweight 220 , and the outer ring counterweight 230 satisfy at least one of the following two formulas:

[0111] 2G2=G1+G3

[0112] G3=3G1

[0113] Among them, G1 is the mass of the inner ring counterweight 210, G2 is the mass of the middle ring counterweight 220, and G3 is the mass of the outer ring counterweight 230.

[0114] In this embodiment, the masses of the inner ring counterweight 210, the middle ring counterweight 220, and the outer ring counterweight 230 can be gradually increased. During the operation of the engineering machine, the position of the outer ring counterweight 230 can be adjusted first to adjust the magnitude of the counterweight torque, and then the positions of the inner ring counterweight 210 and the middle ring counterweight 220 can be adjusted to adjust the direction of the counterweight torque to maintain the center of gravity of the engineering machine stable and effectively prevent the occurrence of tipping. In this embodiment, the mass of the inner ring counterweight 210, the middle ring counterweight 220, and the outer ring counterweight 230 can be gradually increased. During the operation of the engineering machine, the position of the outer ring counterweight 230 can be adjusted first to adjust the magnitude of the counterweight torque, and then the positions of the inner ring counterweight 210 and the middle ring counterweight 220 can be adjusted to adjust the direction of the counterweight torque to maintain the center of gravity of the engineering machine stable and effectively prevent the occurrence of tipping. In this embodiment, the mass of the inner ring counterweight 210, the middle ring counterweight 220, and the outer ring counterweight 230 can be adjusted to the difference between the maximum torque value of the arm extension torque and the chassis mass of the engineering machine, with a certain margin. The mass G1 of the inner ring counterweight 210 is the margin, which is used as the adjustment value. The center of gravity of the engineering machine is mainly adjusted by adjusting the positions of the middle ring counterweight 220 and the outer ring counterweight 230.

[0115] In actual implementation, the sensor collects the tipping moment and the arm extension moment. The controller can adjust the counterweight torque according to the tipping moment and the arm extension moment, adjust the position of the counterweight block according to the counterweight torque, and adjust the three counterweight blocks in the counterweight ring in time according to the size of the center of gravity. First, adjust the outer ring counterweight block 230 of the outermost ring. After determining the position, adjust the two counterweight blocks in the inner ring according to the inclination angle of the plane. Three counterweight blocks of different masses can adapt to different center of gravity positions.

[0116] The present application also provides an engineering machine, including:

[0117] chassis 110;

[0118] The arm 140 and the arm turntable 130 are rotatably mounted on the arm turntable 130 . The arm turntable 130 is disposed on the chassis 110 . The arm 140 is used for lifting heavy objects.

[0119] The counterweight adjustment device 200 includes a plurality of counterweight rings, the plurality of counterweight rings are concentric, and the counterweight rings are provided with counterweight blocks sliding along the counterweight rings;

[0120] A sensor, the sensor is used to collect at least one of the overturning moment of the engineering machinery and the arm extension moment of the arm extension 140;

[0121] A controller is connected to the sensor and the counterweight adjustment device 200, and is used to adjust the position of the counterweight block on the counterweight ring based on at least one of the tipping moment and the arm extension moment.

[0122] In the embodiment of the present application, the engineering machinery may be a spider vehicle, a crane or other engineering machinery.

[0123] According to the engineering machinery provided in the embodiment of the present application, by adjusting the position of the counterweight block on the counterweight ring, the counterweight torque in different directions and sizes can be automatically adjusted in real time, so as to achieve static and dynamic stability of the center of gravity of the engineering machinery, adapt to different working environments and working requirements, maintain the stability of the center of gravity of the engineering machinery, and effectively prevent the occurrence of tipping.

[0124] In some embodiments, the engineering machine may further include a support leg 120 . The support leg 120 is telescopically mounted on the chassis 110 . The support leg 120 is used to support the chassis 110 .

[0125] In actual implementation, before the construction machinery starts working, the outriggers 120 are first extended. After the outriggers 120 are extended, the chassis 110 of the construction machinery is parallel to the ground, and then the center of gravity is adjusted by the counterweight to maintain the center of gravity of the construction machinery within the tipping line. The chassis 110 remains level with the ground, and the outriggers 120 do not shake, effectively preventing the construction machinery from tipping over.

[0126] The embodiment of the present application also provides a photovoltaic power station.

[0127] Photovoltaic panels;

[0128] Photovoltaic module rows, where photovoltaic modules are arranged in the photovoltaic module rows;

[0129] Like the engineering machinery mentioned above, the engineering machinery is used to perform operations on at least one of a photovoltaic module and a photovoltaic module row.

[0130] The embodiment of the present application also provides a control method for a counterweight adjustment system of an engineering machine, which can be used to control the counterweight adjustment system of the above-mentioned engineering machine.

[0131] The control method of the counterweight adjustment system of the engineering machinery may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.

[0132] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0133] In the following embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse, and a joystick.

[0134] The control method of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application can be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the control method of the counterweight adjustment system of the engineering machinery. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras and wearable devices. The control method of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application is explained below using the electronic device as an example of the execution subject.

[0135] like Figure 6 As shown, the control method of the counterweight adjustment system of the engineering machinery includes: step 610 and step 620.

[0136] Step 610: When it is determined that the engineering machine is performing an operation, obtain the arm extension torque of the engineering machine.

[0137] When the counterweight is used to position the engineering machinery, after static leveling is performed, the engineering machinery becomes relatively stable, and the boom 140 of the engineering machinery can be controlled to perform actions such as extension, rotation, and lifting to perform operating operations.

[0138] The boom moment refers to the moment caused by the center of gravity shift when the boom of the construction machinery is extended 140 degrees to lift a load. The boom moment is related to the operation of the construction machinery.

[0139] Step 620: Based on the arm extension torque, adjust the position of the counterweight block on the counterweight ring in the counterweight adjustment device 200 of the counterweight adjustment system so that the counterweight torque of the counterweight adjustment device 200 is greater than or equal to the arm extension torque.

[0140] In this embodiment, based on the arm extension torque of the engineering machinery, the counterweight block on the counterweight ring is controlled to move to an appropriate position, so that the counterweight torque of the counterweight adjustment device 200 is greater than or equal to the arm extension torque, and the center of gravity of the engineering machinery is dynamically leveled to effectively prevent the engineering machinery from tipping over during operation.

[0141] According to the control method of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application, by adjusting the position of the counterweight block on the counterweight ring, the counterweight torque in different directions and sizes is automatically adjusted in real time to achieve a stable center of gravity of the engineering machinery, adapt to different working environments and working requirements, maintain the stability of the center of gravity of the engineering machinery, and effectively prevent the occurrence of tipping.

[0142] In some embodiments, the control method of the counterweight adjustment system of the engineering machinery may further include:

[0143] When it is determined that the engineering machinery is performing a positioning operation, obtaining a tipping moment of the engineering machinery;

[0144] Based on the tipping moment, the position of the counterweight block on the counterweight ring in the counterweight adjustment device 200 is adjusted so that the counterweight moment of the counterweight adjustment device 200 is greater than or equal to the tipping moment.

[0145] In actual implementation, the engineering machinery runs to a fixed position to perform positioning operations. For example, when a spider car is performing photovoltaic module installation work, the spider car drives to the installation slope, extends the legs 120 to support the ground, and performs positioning operations.

[0146] The tipping moment refers to the moment caused by the shift of the center of gravity when the construction machinery is in a certain position. The tipping moment is related to the working environment of the construction machinery.

[0147] In this embodiment, based on the tipping moment of the engineering machinery, the counterweight block on the counterweight ring is controlled to move to a suitable position so that the counterweight moment of the counterweight adjustment device 200 is greater than or equal to the tipping moment, so as to maintain the center of gravity of the engineering machinery within the tipping line, statically adjust the center of gravity of the engineering machinery, and effectively prevent the engineering machinery from tipping over during the positioning process.

[0148] The following takes the counterweight adjustment device 200 including an inner counterweight ring, a middle counterweight ring and an outer counterweight ring sequentially arranged along the radial direction as an example to specifically describe how to achieve static and dynamic center of gravity stabilization of engineering machinery.

[0149] like Figure 1 As shown, the counterweight adjustment device 200 includes an inner ring counterweight ring, a middle ring counterweight ring and an outer ring counterweight ring which are arranged in sequence along the radial direction. The inner ring counterweight ring is provided with an inner ring counterweight block 210, the middle ring counterweight ring is provided with a middle ring counterweight block 220, and the outer ring counterweight ring is provided with an outer ring counterweight block 230.

[0150] In this embodiment, the masses of the inner ring counterweight 210 , the middle ring counterweight 220 , and the outer ring counterweight 230 may gradually increase.

[0151] In some embodiments, when the engineering machine performs a positioning operation, adjusting the position of the counterweight block on the counterweight ring in the counterweight adjustment device 200 based on the tipping moment may include:

[0152] Based on the tipping moment, determining a first leveling position of the outer ring counterweight 230 on the outer ring counterweight ring;

[0153] Move the outer ring counterweight 230 to the first leveling position to obtain an updated tipping moment;

[0154] Determining at least one of a second leveled position of the middle counterweight 220 on the middle counterweight ring and a third leveled position of the inner counterweight 210 on the inner counterweight ring based on the updated tipping moment;

[0155] The middle ring counterweight 220 is moved to the second leveling position, and / or the inner ring counterweight 210 is moved to the third leveling position.

[0156] In this embodiment, during the static leveling process of the engineering machinery, the outermost outer ring counterweight 230 is adjusted first. The outer ring counterweight 230 has a large torque and a large weight. After the outer ring counterweight 230 moves to the first leveling position, it is basically balanced with the original tipping torque. According to the updated tipping torque, the position of the middle ring counterweight 220 or the inner ring counterweight 210 is adjusted to control the level of the chassis 110 and effectively prevent lateral tilting.

[0157] It is understandable that after the engineering machinery performs the positioning operation and adjusts the position of the counterweight block to achieve a stable static center of gravity of the engineering machinery, the body of the engineering machinery is relatively stable and can perform operating operations.

[0158] Take static leveling of a spider car as an example.

[0159] The counterweight adjustment device 200 of the spider car includes three layers of counterweight blocks from the inside to the outside, namely, an inner ring counterweight block 210, a middle ring counterweight block 220 and an outer ring counterweight block 230.

[0160] like Figure 7 As shown, the spider vehicle is parked, and the legs 120 are extended for static leveling.

[0161] Control the movement of the three layers of counterweight blocks, namely the inner ring counterweight block 210 , the middle ring counterweight block 220 and the outer ring counterweight block 230 .

[0162] The masses of the inner ring counterweight 210 , the middle ring counterweight 220 and the outer ring counterweight 230 gradually increase.

[0163] During the static leveling process, according to the tipping moment, first adjust the outermost outer ring counterweight block 230, then adjust the three layers of counterweight blocks in turn, adjust the position of the outer ring counterweight block 230 to adjust the size of the counterweight moment, adjust the position of the inner ring counterweight block 210 and the middle ring counterweight block 220, adjust the direction of the counterweight moment, and keep the center of gravity of the construction machinery at the center of the equipment.

[0164] After the center of gravity of the construction machinery is located at the center of the equipment, the chassis 110 is detected to see if it is tilted. When the chassis 110 is leveled, that is, when the chassis 110 is no longer tilted, the static center of gravity leveling is completed.

[0165] During the operation of the construction machine, the boom moment is determined based on the angle, length, and lift mass of the boom 140 of the construction machine.

[0166] In some embodiments, when it is determined that the engineering machine is performing an arm extension and retraction operation, the arm extension torque of the engineering machine is determined based on the length of the arm extension 140 .

[0167] When the arm 140 is extended and retracted, the length of the arm 140 changes, the tipping moment at a certain angle gradually increases or decreases, and the center of gravity gradually shifts. 展臂 =R 展臂 *F 展臂 , R 展臂 is the arm length of the arm 140, R 展臂 Constantly changing, F 展臂 Unchanged, M 展臂 As the arm length of the extension arm 140 changes continuously, the counterweight moment M of the counterweight adjustment device 200 配重 =R 配重 *F 配重 By moving the counterweight to different positions on the counterweight ring, the center of gravity is kept stable to achieve M 展臂140 and M 配重 relative balance.

[0168] In some embodiments, when it is determined that the engineering machine is performing a boom rotation operation, the boom torque of the engineering machine is determined based on the rotation angle of the boom 140 .

[0169] When the arm 140 rotates, the angle of the arm 140 changes, and the arm moment M 展臂 The direction of the counterweight changes, and the center of gravity is kept stable by moving the counterweight to different positions on the counterweight ring to achieve M 展臂 and M 配重 relative balance.

[0170] In this embodiment, adjusting the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system based on the arm extension torque may include:

[0171] Based on the boom moment, the position of the outer ring counterweight block 230 on the outer ring counterweight ring is adjusted to increase the counterweight, and the position of the inner ring counterweight block 210 on the inner ring counterweight ring is adjusted to level the chassis angle of the engineering machine.

[0172] Due to the change in the arm span torque caused by the change in the rotation angle of the arm span 140, the engineering machinery may be at risk of sideways tipping. The counterweight adjustment device 200, which includes a counterweight ring and a counterweight block, can ensure that when the arm span 140 rotates, the counterweight block changes its own position and counterweight structure as the arm span torque changes. The counterweight of the counterweight adjustment device 200 is increased by the outer ring counterweight block 230, and the angle of the chassis 110 is adjusted by the inner ring counterweight block 210 to ensure the relative level of the engineering machinery and achieve a stable center of gravity.

[0173] In some embodiments, when it is determined that the engineering machine is performing an arm-lifting operation, the arm-lifting torque of the engineering machine is determined based on the weight of the weight lifted by the arm 140. During the lifting process of the arm 140, the weight of the weight varies due to the different objects being lifted.展臂 =R 展臂 *F 展臂 , R 展臂140 Unchanged, M 展臂 With the lifting weight F 展臂 By adjusting the position of the counterweight, M 展臂 and M 配重 To ensure relative balance, prevent the equipment from tipping over during the lifting process.

[0174] In this embodiment, adjusting the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system based on the arm extension torque may include:

[0175] Based on the arm extension torque, adjust the position of the outer ring counterweight block 230 on the outer ring counterweight ring and the position of the middle ring counterweight block 220 on the middle ring counterweight ring to balance the counterweight torque and the arm extension torque of the counterweight adjustment device, and adjust the position of the inner ring counterweight block 210 on the inner ring counterweight ring to level the chassis 140 plane of the engineering machinery.

[0176] During the lifting process of construction machinery, M 展臂 =R 展臂 *F 展臂 , R of construction machinery 展臂140 Unchanged, M 展臂 With the lifting weight F 展臂 By adjusting the position of the middle ring counterweight 220 and the outer ring counterweight 230, M 展臂 and M 配重 The inner ring counterweight 210 is used to adjust the plane of the chassis 140 to achieve a level center of gravity, thereby preventing the construction machinery from tipping over after lifting weights on a slope.

[0177] The control method for the counterweight adjustment system of an engineering machine provided in the embodiments of the present application may be executed by a control device for the counterweight adjustment system of the engineering machine. In the embodiments of the present application, the control device for the counterweight adjustment system of an engineering machine is used as an example to illustrate the control method for the counterweight adjustment system of the engineering machine provided in the embodiments of the present application.

[0178] The present application also provides a control device for a counterweight adjustment system of an engineering machine, comprising:

[0179] The first processing module is configured to obtain an arm extension torque of the engineering machine when it is determined that the engineering machine is performing an operation;

[0180] The second processing module is used to adjust the position of the counterweight block on the counterweight ring in the counterweight adjustment device 200 based on the arm extension torque, so that the counterweight torque of the counterweight adjustment device 200 is greater than or equal to the arm extension torque.

[0181] In some embodiments, the first processing module is further configured to obtain the overturning moment of the engineering machine when it is determined that the engineering machine is performing a positioning operation.

[0182] The second processing module is further configured to adjust the position of the counterweight block on the counterweight ring in the counterweight adjustment device 200 based on the overturning moment, so that the counterweight moment of the counterweight adjustment device 200 is greater than or equal to the overturning moment.

[0183] In some embodiments, the counterweight adjustment device 200 includes an inner counterweight ring, a middle counterweight ring, and an outer counterweight ring sequentially arranged in a radial direction, the inner counterweight ring being provided with an inner counterweight block 210, the middle counterweight ring being provided with a middle counterweight block 220, and the outer counterweight ring being provided with an outer counterweight block 230. The second processing module is further configured to determine a first leveling position of the outer counterweight block 230 on the outer counterweight ring based on the tipping moment.

[0184] Move the outer ring counterweight 230 to the first leveling position to obtain an updated tipping moment;

[0185] Determining at least one of a second leveled position of the middle counterweight 220 on the middle counterweight ring and a third leveled position of the inner counterweight 210 on the inner counterweight ring based on the updated tipping moment;

[0186] The middle ring counterweight 220 is moved to the second leveling position, and / or the inner ring counterweight 210 is moved to the third leveling position.

[0187] In some embodiments, the first processing module is further configured to determine the boom torque of the engineering machine based on the length of the boom 140 when it is determined that the engineering machine is performing a boom extension and retraction operation.

[0188] In some embodiments, the counterweight adjustment device 200 includes an inner counterweight ring, a middle counterweight ring, and an outer counterweight ring sequentially arranged in a radial direction. The inner counterweight ring is provided with an inner counterweight block 210, the middle counterweight ring is provided with a middle counterweight block 220, and the outer counterweight ring is provided with an outer counterweight block 230. The first processing module is further configured to determine the boom torque of the engineering machine based on the rotation angle of the boom 140 when determining that the engineering machine is performing a boom rotation operation.

[0189] The second processing module is also used to adjust the position of the outer ring counterweight block 230 on the outer ring counterweight ring based on the arm extension torque to increase the counterweight, and adjust the position of the inner ring counterweight block 210 on the inner ring counterweight ring to level the angle of the chassis 110 of the engineering machinery.

[0190] In some embodiments, the counterweight adjustment device 200 includes an inner counterweight ring, a middle counterweight ring, and an outer counterweight ring sequentially arranged in a radial direction. The inner counterweight ring is provided with an inner counterweight block 210, the middle counterweight ring is provided with a middle counterweight block 220, and the outer counterweight ring is provided with an outer counterweight block 230. The first processing module is further configured to determine the boom torque of the engineering machine based on the lifting mass of the boom 140 when determining that the engineering machine is performing a boom lifting operation.

[0191] The second processing module is also used to adjust the position of the outer ring counterweight block 230 on the outer ring counterweight ring and the position of the middle ring counterweight block 220 on the middle ring counterweight ring based on the arm extension torque to balance the counterweight torque and the arm extension torque of the counterweight adjustment device 200, and adjust the position of the inner ring counterweight block 210 on the inner ring counterweight ring to level the plane of the chassis 110 of the engineering machinery.

[0192] The control device of the counterweight adjustment system of the engineering machinery in the embodiment of the present application can be an electronic device or a component of the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. For example, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc. It can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., and the embodiment of the present application does not specifically limit it.

[0193] The control device of the counterweight adjustment system of the engineering machinery in the embodiment of the present application can be a device having an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0194] The control device of the counterweight adjustment system of the engineering machinery provided in the embodiment of the present application can achieve Figure 6 and Figure 7 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0195] In some embodiments, as Figure 8 As shown, an embodiment of the present application also provides an electronic device 800, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, each process of the control method embodiment of the counterweight adjustment system of the above-mentioned engineering machinery is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0196] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0197] An embodiment of the present application also provides a non-transitory computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the various processes of the control method embodiment of the counterweight adjustment system of the above-mentioned engineering machinery and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0198] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0199] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the control method of the counterweight adjustment system of the above-mentioned engineering machinery.

[0200] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0201] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the control method embodiment of the counterweight adjustment system of the above-mentioned engineering machinery, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0202] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0203] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0204] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0205] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0206] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0207] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A counterweight adjustment system for engineering machinery, characterized in that: include: A counterweight adjustment device, the counterweight adjustment device comprising a plurality of counterweight rings, the plurality of counterweight rings being concentric, and the counterweight rings being provided with counterweight blocks sliding along the counterweight rings; A sensor for collecting at least one of a tipping moment and an arm extension moment of the engineering machinery; a controller connected to the sensor and the counterweight adjustment device, the controller being configured to adjust a position of the counterweight on the counterweight ring based on at least one of the tipping moment and the boom moment; The plurality of counterweight rings are sequentially sleeved in a radial direction, the diameters of the plurality of counterweight rings gradually increase from the center to the outer edge, and the masses of the plurality of counterweight blocks gradually increase from the center to the outer edge of the plurality of counterweight rings; Alternatively, the total mass of the plurality of counterweights is equal to the difference between the maximum moment value of the arm extension moment and the mass of the chassis of the engineering machinery.

2. The counterweight adjustment system for engineering machinery according to claim 1, characterized in that: The counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring and an outer ring counterweight ring which are sequentially sleeved along the radial direction. The inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block.

3. The counterweight adjustment system for engineering machinery according to claim 2, characterized in that: The masses of the inner ring counterweight, the middle ring counterweight, and the outer ring counterweight satisfy at least one of the following two formulas: 2G2=G1+G3 G3=3G1 Among them, G1 is the mass of the inner ring counterweight block, G2 is the mass of the middle ring counterweight block, and G3 is the mass of the outer ring counterweight block.

4. A control method for a counterweight adjustment system of an engineering machine according to any one of claims 1 to 3, characterized in that: include: When it is determined that the engineering machine is performing an operation, obtaining an arm extension torque of the engineering machine; Based on the arm extension moment, the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system is adjusted so that the counterweight moment of the counterweight adjustment device is greater than or equal to the arm extension moment.

5. The control method of the counterweight adjustment system of engineering machinery according to claim 4, characterized in that: The method further comprises: When it is determined that the engineering machinery is performing a positioning operation, obtaining a tipping moment of the engineering machinery; Based on the tipping moment, the position of the counterweight block in the counterweight adjustment device on the counterweight ring is adjusted so that the counterweight moment of the counterweight adjustment device is greater than or equal to the tipping moment.

6. The control method of the counterweight adjustment system of engineering machinery according to claim 5, characterized in that: The counterweight adjustment device includes an inner ring counterweight ring, a middle ring counterweight ring, and an outer ring counterweight ring sequentially sleeved in a radial direction, the inner ring counterweight ring is provided with an inner ring counterweight block, the middle ring counterweight ring is provided with a middle ring counterweight block, and the outer ring counterweight ring is provided with an outer ring counterweight block. Adjusting the position of the counterweight block on the counterweight ring in the counterweight adjustment device based on the tipping moment includes: determining a first leveling position of the outer ring counterweight on the outer ring counterweight ring based on the tipping moment; Moving the outer ring counterweight to the first leveling position to obtain the updated tipping moment; determining at least one of a second leveling position of the middle ring counterweight on the middle ring counterweight ring and a third leveling position of the inner ring counterweight on the inner ring counterweight ring based on the updated tipping moment; The middle ring counterweight is moved to the second leveling position, and / or the inner ring counterweight is moved to the third leveling position.

7. The control method of the counterweight adjustment system of engineering machinery according to claim 4, characterized in that: When it is determined that the engineering machine is performing an operation, obtaining the arm extension torque of the engineering machine includes: When it is determined that the engineering machine performs an arm extension and retraction operation, the arm extension torque of the engineering machine is determined based on the length of the arm extension.

8. The control method of the counterweight adjustment system of engineering machinery according to claim 4, characterized in that: The counterweight adjustment device includes an inner counterweight ring, a middle counterweight ring, and an outer counterweight ring sequentially sleeved in a radial direction, the inner counterweight ring is provided with an inner counterweight block, the middle counterweight ring is provided with a middle counterweight block, and the outer counterweight ring is provided with an outer counterweight block. When it is determined that the engineering machinery is performing an operation, obtaining the arm extension torque of the engineering machinery includes: In the case where it is determined that the engineering machine performs an arm rotation operation, determining an arm torque of the engineering machine based on the rotation angle of the arm; The adjusting, based on the arm extension torque, the position of the counterweight block on the counterweight ring in the counterweight adjustment device of the counterweight adjustment system includes: Based on the arm extension moment, the position of the outer ring counterweight block on the outer ring counterweight ring is adjusted to increase the counterweight, and the position of the inner ring counterweight block on the inner ring counterweight ring is adjusted to level the chassis angle of the engineering machinery.

9. The control method of the counterweight adjustment system of engineering machinery according to claim 4, characterized in that: The counterweight adjustment device includes an inner counterweight ring, a middle counterweight ring, and an outer counterweight ring sequentially sleeved in a radial direction, the inner counterweight ring is provided with an inner counterweight block, the middle counterweight ring is provided with a middle counterweight block, and the outer counterweight ring is provided with an outer counterweight block. When it is determined that the engineering machinery is performing an operation, obtaining the arm extension torque of the engineering machinery includes: When it is determined that the engineering machinery is performing an arm-extending lifting operation, determining an arm-extending torque of the engineering machinery based on the weight of the load being lifted by the arm; and adjusting a position of a counterweight block on a counterweight ring in a counterweight adjustment device of a counterweight adjustment system based on the arm-extending torque, including: Based on the arm extension torque, the position of the outer ring counterweight block on the outer ring counterweight ring and the position of the middle ring counterweight block on the middle ring counterweight ring are adjusted to balance the counterweight torque of the counterweight adjustment device and the arm extension torque, and the position of the inner ring counterweight block on the inner ring counterweight ring is adjusted to level the chassis plane of the engineering machinery.

10. An engineering machine, characterized in that: include: chassis; A boom and a boom turntable, wherein the boom is rotatably mounted on the boom turntable, the boom turntable is disposed on the chassis, and the boom is used for hoisting heavy objects; A counterweight adjustment device, the counterweight adjustment device comprising a plurality of counterweight rings, the plurality of counterweight rings being concentric, and the counterweight rings being provided with counterweight blocks sliding along the counterweight rings; a sensor configured to collect at least one of a tipping moment of the engineering machine and a spreading moment of the spreading arm; a controller connected to the sensor and the counterweight adjustment device, the controller being configured to adjust a position of the counterweight on the counterweight ring based on at least one of the tipping moment and the boom moment; The plurality of counterweight rings are sequentially sleeved in a radial direction, the diameters of the plurality of counterweight rings gradually increase from the center to the outer edge, and the masses of the plurality of counterweight blocks gradually increase from the center to the outer edge of the plurality of counterweight rings; Alternatively, the total mass of the plurality of counterweights is equal to the difference between the maximum moment value of the arm extension moment and the mass of the chassis of the engineering machinery.

11. The construction machine according to claim 10, characterized in that: Also includes: The supporting legs are telescopically mounted on the chassis and are used to support the chassis.

12. A photovoltaic power station, characterized in that: include: Photovoltaic panels; A photovoltaic assembly row, wherein the photovoltaic assembly is arranged on the photovoltaic assembly row; The engineering machinery according to claim 10 or 11, wherein the engineering machinery is used to operate on at least one of the photovoltaic module and the photovoltaic module row.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method of the counterweight adjustment system of the engineering machinery as described in any one of claims 4 to 9 is implemented.

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